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94 lines
3.6 KiB
C++
94 lines
3.6 KiB
C++
/*
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* extrinsic implementation
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*
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* Copyright (C) Stanislav Serebryakov
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*
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* Released under the GPL version 3.
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*
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*/
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#if (defined(_WIN32) || defined(__WIN32__) || defined(__TOS_WIN__) || defined(__WINDOWS__) || (defined(__APPLE__) & defined(__MACH__)))
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#include <cv.h>
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#include <highgui.h>
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#include <stdio.h>
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#include <stdlib.h>
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#elif (CV_MAJOR_VERSION == 2) && (CV_MINOR_VERSION < 2)
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#include <opencv/cv.h>
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#else
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#include <opencv2/opencv.hpp>
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#endif
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int main(int argc, char **argv) {
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if(argc < 3) {
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printf("extrinic: x y img1 img2\n");
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exit(1);
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}
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// extrinic params: rotation and translation
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CvMat *rotCam = cvCreateMat(1, 3, CV_32FC1);
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CvMat *transCam = cvCreateMat(1, 3, CV_32FC1);
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CvMat *rotPMD = cvCreateMat(1, 3, CV_32FC1);
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CvMat *transPMD = cvCreateMat(1, 3, CV_32FC1);
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CvSize boardSz = cvSize(atoi(argv[1]), atoi(argv[2]));
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int totalPoints = boardSz.width*boardSz.height;
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double boardSide = 0.04;
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CvMat *objPts = cvCreateMat(totalPoints, 3, CV_32FC1);
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CvPoint2D32f *cornersCam = (CvPoint2D32f*)cvAlloc(totalPoints * sizeof(CvPoint2D32f));
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CvMat imgPtsCam = cvMat(totalPoints, 1, CV_32FC2, cornersCam);
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CvPoint2D32f *cornersPMD = (CvPoint2D32f*)cvAlloc(totalPoints * sizeof(CvPoint2D32f));
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CvMat imgPtsPMD = cvMat(totalPoints, 1, CV_32FC2, cornersPMD);
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for(int i = 0; i < totalPoints; i++) {
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CV_MAT_ELEM(*objPts, float, i, 0) = boardSide * (i / boardSz.width);
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CV_MAT_ELEM(*objPts, float, i, 1) = boardSide * (i % boardSz.width);
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CV_MAT_ELEM(*objPts, float, i, 2) = 0.0f;
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}
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IplImage *imgPMD = cvLoadImage(argv[3], CV_LOAD_IMAGE_GRAYSCALE);
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IplImage *imgPMDU = cvCreateImage(cvGetSize(imgPMD), 8, 1);
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IplImage *imgCam = cvLoadImage(argv[4], CV_LOAD_IMAGE_GRAYSCALE);
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IplImage *imgCamU = cvCreateImage(cvGetSize(imgCam), 8, 1);
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CvMat *intrinsicsCam = (CvMat*)cvLoad("../intrinsic-cam-6x4.xml");
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CvMat *intrinsicsPMD = (CvMat*)cvLoad("../intrinsic-pmd-6x4.xml");
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CvMat *distortionCam = (CvMat*)cvLoad("../distortion-cam-6x4.xml");
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CvMat *distortionPMD = (CvMat*)cvLoad("../distortion-pmd-6x4.xml");
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cvUndistort2(imgPMD, imgPMDU, intrinsicsPMD, distortionPMD);
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cvUndistort2(imgCam, imgCamU, intrinsicsCam, distortionCam);
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int cornersCountCam, cornersCountPMD;
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int foundPMD = cvFindChessboardCorners(imgPMDU, boardSz, cornersPMD,
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&cornersCountPMD, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);
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if(foundPMD) {
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cvFindCornerSubPix(imgPMDU, cornersPMD, cornersCountPMD, cvSize(2, 2), cvSize(-1,-1),
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cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1));
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printf("foundPMD\n");
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}
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int foundCam = cvFindChessboardCorners(imgCamU, boardSz, cornersCam,
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&cornersCountCam, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);
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if(foundPMD) {
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cvFindCornerSubPix(imgCamU, cornersCam, cornersCountCam, cvSize(11, 11), cvSize(-1,-1),
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cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1));
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printf("foundCam\n");
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}
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cvNamedWindow("c", 0);
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cvNamedWindow("p", 0);
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cvShowImage("c", imgCamU);
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cvShowImage("p", imgPMDU);
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cvWaitKey(0);
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if(foundCam) cvFindExtrinsicCameraParams2(objPts, &imgPtsCam, intrinsicsCam, distortionCam, rotCam, transCam);
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if(foundPMD) cvFindExtrinsicCameraParams2(objPts, &imgPtsPMD, intrinsicsPMD, distortionPMD, rotPMD, transPMD);
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cvSave("./rotcam.xml", rotCam);
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cvSave("./rotpmd.xml", rotPMD);
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cvSave("./transcam.xml", transCam);
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cvSave("./transpmd.xml", transPMD);
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}
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